支持 HI13/H32 主机 UTC 桥接对齐、多会话联合标定与 CAD 平移先验。

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-10 13:26:32 +08:00
parent 30f7e66db3
commit 2237be77a4
20 changed files with 1830 additions and 347 deletions
@@ -0,0 +1,80 @@
+schema_version: 1
+
+vehicle:
+  vehicle_id: "outdoor_usable_20260808"
+  body_frame:
+    name: "base_link"
+    # CAD / 后轮轴中心测量系（与安装图 dX/dY/dZ 一致）
+    axes: "X forward, Y left, Z up"
+    unit: m
+    reference_point: "rear_axle_center"
+
+installation:
+  installation_id: "20260808_priority_windows"
+  installed_at: "2026-08-08"
+  notes: >
+    HI13R4 + H32 DLogCapture. CAD mounts are origins vs rear axle center only
+    (translation). IMU axes confirmed on vehicle as HI13R4 manual §2.4 RFU
+    (X right, Y forward, Z up). LiDAR Cartesian assumed body-aligned.
+
+sensors:
+  imu:
+    model: "HI13R4"
+    raw_frame:
+      # HI13R4 用户手册 2.4：右-前-上 (RFU)
+      axes: "X right, Y forward, Z up (RFU)"
+      driver_axis_remapped: false
+    mount_in_body:
+      # CAD 原点相对后轮轴中心（body: X fwd, Y left, Z up），单位 m
+      translation_m: [2.574126255, 0.0365, 0.8925]
+      # body <- imu : p_body = R_body_imu * p_imu
+      # R_body_imu = [[0,1,0],[-1,0,0],[0,0,1]]  (fwd=imu_y, left=-imu_x, up=imu_z)
+      rotation_matrix_body_imu: [[0.0, 1.0, 0.0], [-1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]
+      rotation_quaternion_xyzw: null
+      source: "CAD dX/dY/dZ + HI13R4 manual RFU"
+
+  lidar:
+    model: "RSLidarH32"
+    points_field: points
+    raw_frame:
+      axes: "X forward, Y left, Z up (Cartesian metres in NPZ points)"
+      driver_axis_remapped: false
+    mount_in_body:
+      translation_m: [2.522276859, 0.000020526, 1.637499879]
+      # 假设雷达系与车体 CAD 轴一致（导出 XYZ 已按此约定）
+      rotation_matrix_body_lidar: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
+      rotation_quaternion_xyzw: null
+      source: "CAD dX/dY/dZ vs rear axle; attitude assumed = body"
+
+  rtk:
+    frame_definition: ""
+    reference_point: ""
+    existing_T_RTK_LIDAR_file: ""
+
+time:
+  imu_timestamp_source: "hi13_device_timestamp_ms_seconds"
+  lidar_timestamp_source: "h32_msop_device_timestamp_seconds"
+  lidar_frame_time_definition: "t_start/t_end in frames_index.csv; pipeline uses midpoint"
+  host_bridge: "MSOP HostReceiveUtcTicks + IMU receive_utc_ticks"
+
+# Derived prior for p_IMU = R_IMU_lidar * p_lidar + t_IMU_lidar
+# t_body = t_lidar_body - t_imu_body
+# t_IMU_lidar = R_IMU_body * t_body,  R_IMU_lidar = R_IMU_body * R_body_lidar
+derived_T_IMU_lidar_prior:
+  R_IMU_lidar: [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]
+  t_IMU_lidar_m: [0.036479474, -0.051849396, 0.744999879]
+  t_lidar_from_imu_in_body_m: [-0.051849396, -0.036479474, 0.744999879]
+  notes: >
+    Rotation prior is ~90 deg yaw between body/lidar (X-fwd) and IMU RFU (Y-fwd).
+    Translation prior from CAD only; use for full_se3 / sanity, not as hard lock
+    for rotation_only.
+
+initialization:
+  translation_prior:
+    enabled: true
+    sigma_m: [0.05, 0.05, 0.05]
+    t_IMU_lidar_m: [0.036479474, -0.051849396, 0.744999879]
+  rotation_prior:
+    enabled: true
+    sigma_deg: 15.0
+    R_IMU_lidar: [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]]